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-rw-r--r--host/simu/robots/robospierre/model/bag.py23
1 files changed, 11 insertions, 12 deletions
diff --git a/host/simu/robots/robospierre/model/bag.py b/host/simu/robots/robospierre/model/bag.py
index e6810e18..ce55f997 100644
--- a/host/simu/robots/robospierre/model/bag.py
+++ b/host/simu/robots/robospierre/model/bag.py
@@ -32,26 +32,25 @@ from math import pi
class Bag:
def __init__ (self, scheduler, table, link_bag):
- self.jack = Switch (link_bag.io.jack)
- self.color_switch = Switch (link_bag.io.color_switch)
- self.contact = [ Switch (contact) for contact in link_bag.io.contact ]
+ self.color_switch = Switch (link_bag.io_hub.contact[0])
+ self.jack = Switch (link_bag.io_hub.contact[1])
+ self.contact = [ Switch (contact)
+ for contact in link_bag.io_hub.contact[2:] ]
self.position = Position (link_bag.asserv.position)
- self.clamping_motor = MotorBasic (link_bag.io.pwm[0], scheduler,
+ self.clamping_motor = MotorBasic (link_bag.io_hub.pwm[0], scheduler,
2 * pi, 0, pi)
self.clamp = Clamp (table, self.position, link_bag.mimot.aux[0],
link_bag.mimot.aux[1], self.clamping_motor)
self.distance_sensor = [
- DistanceSensorSensopart (link_bag.io.adc[0], scheduler, table,
+ DistanceSensorSensopart (link_bag.io_hub.adc[0], scheduler, table,
(20, -20), -pi * 10 / 180, (self.position, ), 2),
- DistanceSensorSensopart (link_bag.io.adc[1], scheduler, table,
+ DistanceSensorSensopart (link_bag.io_hub.adc[1], scheduler, table,
(20, 20), pi * 10 / 180, (self.position, ), 2),
- DistanceSensorSensopart (link_bag.io.adc[2], scheduler, table,
+ DistanceSensorSensopart (link_bag.io_hub.adc[2], scheduler, table,
(-20, 20), pi - pi * 10 / 180, (self.position, ), 2),
- DistanceSensorSensopart (link_bag.io.adc[3], scheduler, table,
+ DistanceSensorSensopart (link_bag.io_hub.adc[3], scheduler, table,
(-20, -20), pi + pi * 10 / 180, (self.position, ), 2),
]
- link_bag.io.adc[4].value = 0
- link_bag.io.adc[5].value = 0
- self.path = link_bag.io.path
- self.pos_report = link_bag.io.pos_report
+ for adc in link_bag.io_hub.adc[4:]:
+ adc.value = 0